Author Type

Graduate Student

Date of Award

2018

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Engeberg, Erik

Abstract

My thesis covers the design and fabrication of novel humanoid robotic eyes and the process of interfacing them with the industry robot, Baxter. The mechanism can reach a maximum saccade velocity comparable to that of human eyes. Unlike current robotic eye designs, these eyes have independent left-right and up-down gaze movements achieved using a servo and DC motor, respectively. A potentiometer and rotary encoder enable closed-loop control. An Arduino board and motor driver control the assembly. The motor requires a 12V power source, and all other components are powered through the Arduino from a PC. Hand-eye coordination research influenced how the eyes were programmed to move relative to Baxter’s grippers. Different modes were coded to adjust eye movement based on the durability of what Baxter is handling. Tests were performed on a component level as well as on the full assembly to prove functionality.

Extent

195 p.

Comments

Includes bibliography.|Thesis (M.S.)--Florida Atlantic University, 2018.|FAU Electronic Theses and Dissertations Collection|Includes bibliography.

Identifier

FA00013091

Format

pdf

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